| 摘要 |
Provided is a slow stopping apparatus for a working machine which can shorten a stopping time while suppressing a cargo swing. The slow stopping apparatus includes a first slow stopper 21 which calculates a cargo swing cycle T and takes a time T1 in a half of the cargo swing cycle T to stop an actuator 10 when a stop signal is input, a second slow stopper 22 which takes a shorter time T2 than the time T1 in the half of the cargo swing cycle T to stop the actuator 10, a cargo swing predictor 23 which predicts whether a load amplitude A would exceed an allowable value, and a switcher 24 which switches the first slow stopper 21 and the second slow stopper 22 in accordance with prediction of the cargo swing predictor 23. It is possible to suppress a cargo swing in stop of a motion of the working machine, thereby shortening a time required for stopping the motion of the working machine. |
